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Acceleration/deceleration profiles

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Added toggle to use DragonPilot's acceleration/deceleration profiles.

Credit goes to DragonPilot!

https: //github.com/dragonpilot-community/dragonpilot
Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-03-06 17:50:06 -07:00
parent f01d5fb25a
commit 121fd2d246
30 changed files with 259 additions and 31 deletions
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5
selfdrive/car/ford/carcontroller.py
View File

@@ -85,7 +85,10 @@ class CarController:
# send acc msg at 50Hz
if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
# Both gas and accel are in m/s^2, accel is used solely for braking
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
if frogpilot_variables.sport_plus:
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS)
else:
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
gas = accel
if not CC.longActive or gas < CarControllerParams.MIN_GAS:
gas = CarControllerParams.INACTIVE_GAS

1
selfdrive/car/ford/values.py
View File

@@ -32,6 +32,7 @@ class CarControllerParams:
CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
ACCEL_MAX = 2.0 # m/s^2 max acceleration
ACCEL_MAX_PLUS = 4.0 # m/s^2 max acceleration
ACCEL_MIN = -3.5 # m/s^2 max deceleration
MIN_GAS = -0.5
INACTIVE_GAS = -5.0